From d5570b53c75f8d96dfb2e3b0038dbcd373b140d6 Mon Sep 17 00:00:00 2001 From: Ishaan Datta Date: Sat, 7 Dec 2024 00:00:23 -0800 Subject: [PATCH] pyzed patch for roi calibrator, disable display --- .../python_workspace/python_workspace/extermination_node.py | 6 +++--- tools/calibration/roi_calibration.py | 3 +++ 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/ros2_ws/src/python_workspace/python_workspace/extermination_node.py b/ros2_ws/src/python_workspace/python_workspace/extermination_node.py index 68c6bcd..363b362 100644 --- a/ros2_ws/src/python_workspace/python_workspace/extermination_node.py +++ b/ros2_ws/src/python_workspace/python_workspace/extermination_node.py @@ -55,9 +55,9 @@ def inference_callback(self, msg): labels = [f"{i}%" for i in msg.confidences.data] final_image = display_annotated_image(raw_image, bounding_boxes, labels) - if self.use_display_node: - cv2.imshow("left window", final_image) - cv2.waitKey(1) + # if self.use_display_node: + # cv2.imshow("left window", final_image) + # cv2.waitKey(1) if len(bounding_boxes) > 0: self.boxes_present = 1 diff --git a/tools/calibration/roi_calibration.py b/tools/calibration/roi_calibration.py index 06bfda1..639b6d3 100644 --- a/tools/calibration/roi_calibration.py +++ b/tools/calibration/roi_calibration.py @@ -39,6 +39,7 @@ def initialize_image_source(source_type="static_image", image_path='C:/Users/ish return files elif source_type == "zed_single": + import pyzed.sl as sl init = sl.InitParameters() cam = sl.Camera() init.camera_resolution = sl.RESOLUTION.HD1080 @@ -53,6 +54,7 @@ def initialize_image_source(source_type="static_image", image_path='C:/Users/ish return cam elif source_type == "zed_double": + import pyzed.sl init = sl.InitParameters() cam1 = sl.Camera() cam2 = sl.Camera() @@ -178,6 +180,7 @@ def onTrack6(val): elif source_type == "zed_single": image, velocity = retrieve_zed_image(cam, orientation) + velocity = 0 if orientation == "left": shifted_roi_x = roi_x + abs(velocity) * shift_constant else: